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103 lines
2.1 KiB
C++
103 lines
2.1 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#pragma once
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#include <memory>
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#include <string_view>
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#include <networktables/NetworkTableEntry.h>
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#include <units/angle.h>
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#include "frc/smartdashboard/MechanismObject2d.h"
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#include "frc/util/Color8Bit.h"
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namespace frc {
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/**
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* Ligament node on a Mechanism2d.
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*
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* A ligament can have its length changed (like an elevator) or angle changed,
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* like an arm.
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*
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* @see Mechanism2d
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*/
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class MechanismLigament2d : public MechanismObject2d {
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public:
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MechanismLigament2d(std::string_view name, double length,
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units::degree_t angle, double lineWidth = 6,
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const frc::Color8Bit& color = {235, 137, 52});
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/**
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* Set the ligament color.
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*
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* @param color the color of the line
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*/
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void SetColor(const Color8Bit& color);
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/**
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* Get the ligament color.
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*
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* @return the color of the line
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*/
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Color8Bit GetColor();
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/**
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* Set the ligament's length.
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*
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* @param length the line length
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*/
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void SetLength(double length);
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/**
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* Get the ligament length.
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*
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* @return the line length
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*/
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double GetLength();
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/**
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* Set the ligament's angle relative to its parent.
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*
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* @param angle the angle
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*/
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void SetAngle(units::degree_t angle);
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/**
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* Get the ligament's angle relative to its parent.
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*
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* @return the angle
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*/
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double GetAngle();
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/**
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* Set the line thickness.
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*
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* @param lineWidth the line thickness
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*/
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void SetLineWeight(double lineWidth);
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/**
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* Get the line thickness.
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*
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* @return the line thickness
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*/
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double GetLineWeight();
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protected:
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void UpdateEntries(std::shared_ptr<nt::NetworkTable> table) override;
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private:
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void Flush();
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double m_length;
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nt::NetworkTableEntry m_lengthEntry;
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double m_angle;
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nt::NetworkTableEntry m_angleEntry;
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double m_weight;
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nt::NetworkTableEntry m_weightEntry;
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char m_color[10];
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nt::NetworkTableEntry m_colorEntry;
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};
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} // namespace frc
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